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Oh, Hyondong
Autonomous Systems Laboratory
Research Interests
  • Autonomy and decision making for unmanned vehicles
  • Cooperative control and path planning for unmanned vehicles
  • Nonlinear guidance and control
  • Estimation and sensor/information fusion
  • Vision-based navigation and control
  • Bio-inspired self-organising multi-vehicle system

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Finite-time disturbance observer-based modified super-twisting algorithm for systems with mismatched disturbances: Application to fixed-wing UAVs under wind disturbances

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Title
Finite-time disturbance observer-based modified super-twisting algorithm for systems with mismatched disturbances: Application to fixed-wing UAVs under wind disturbances
Author
Ngo Phong NguyenOh, HyondongKim, YoonsooMoon, JunYang, JunChen, Wen-Hua
Issue Date
2021-10
Publisher
WILEY
Citation
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, v.31, no.15, pp.7317 - 7343
Abstract
This article proposes a finite-time disturbance observer-based modified super-twisting algorithm (FDO-STA) for disturbed high-order integrator-chain systems under matched and mismatched disturbances. We first design a finite-time observer for disturbance estimation, in which we show the finite-time convergence of disturbance estimation errors to zero. Second, by employing the estimates of disturbances and their derivatives, a new dynamic sliding surface is derived, which ensures the finite-time convergence of the controlled output to zero in the sliding phase. Then, based on the estimates of disturbances and their derivatives, the designed sliding surface, and a modified super-twisting algorithm, we develop the FDO-STA, which guarantees the finite-time convergence of the sliding variable to zero in the reaching phase. Rigorous analysis is provided to show the finite-time stability of the overall closed-loop system under the proposed control scheme. We finally apply the proposed FDO-STA framework to the path following control for fixed-wing UAVs under wind disturbances. Various simulation results are provided to show the effectiveness of the proposed controller, compared with the existing control approaches.
URI
https://scholarworks.unist.ac.kr/handle/201301/53308
URL
https://onlinelibrary.wiley.com/doi/10.1002/rnc.5678
DOI
10.1002/rnc.5678
ISSN
1049-8923
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